Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping.

Direct-drive servo systems are extensively applied in biomimetic robotics and other bionic applications, but their performance is susceptible to uncertainties and disturbances. This paper proposes an adaptive disturbance rejection Zeta-backstepping control scheme with adjustable damping ratios to enhance system robustness and precision. An iron-core permanent magnet linear synchronous motor (PMLSM) was employed as the experimental platform for the development of a dynamic model that incorporates compensation for friction and cogging forces.

Quantitative analysis of peri-intestinal lymph node metastasis using indocyanine green fluorescence imaging technology.

We evaluated the efficacy of indocyanine green fluorescence imaging compared to that of traditional nanocarbon dyes in assessing peri-intestinal lymph node metastasis in patients with colorectal cancer, which is a key prognostic factor. The relationship between indocyanine green fluorescence imaging and histopathological outcomes in patients with colon cancer has also been explored. A retrospective analysis was conducted on 30 patients with colon cancer (from May to October 2023) confirmed by surgical pathology.

Discrete-Time Visual Servoing Control with Adaptive Image Feature Prediction Based on Manipulator Dynamics.

In this paper, a practical discrete-time control method with adaptive image feature prediction for the image-based visual servoing (IBVS) scheme is presented. In the discrete-time IBVS inner-loop/outer-loop control architecture, the time delay caused by image capture and computation is noticed. Considering the dynamic characteristics of a 6-DOF manipulator velocity input system, we propose a linear dynamic model to describe the motion of a robot end effector.

Magnetic resonance imaging-based deep learning imaging biomarker for predicting functional outcomes after acute ischemic stroke.

Purpose: Clinical risk scores are essential for predicting outcomes in stroke patients. The advancements in deep learning (DL) techniques provide opportunities to develop prediction applications using magnetic resonance (MR) images. We aimed to develop an MR-based DL imaging biomarker for predicting outcomes in acute ischemic stroke (AIS) and evaluate its additional benefit to current risk scores.

Multimodal Sensors Enabled Autonomous Soft Robotic System with Self-Adaptive Manipulation.

Human hands are amazingly skilled at recognizing and handling objects of different sizes and shapes. To date, soft robots rarely demonstrate autonomy equivalent to that of humans for fine perception and dexterous operation. Here, an intelligent soft robotic system with autonomous operation and multimodal perception ability is developed by integrating capacitive sensors with triboelectric sensor.

InertialNet: Inertial Measurement Learning for Simultaneous Localization and Mapping.

SLAM (simultaneous localization and mapping) plays a crucial role in autonomous robot navigation. A challenging aspect of visual SLAM systems is determining the 3D camera orientation of the motion trajectory. In this paper, we introduce an end-to-end network structure, InertialNet, which establishes the correlation between the image sequence and the IMU signals.

Trajectory Tracking of Variable Centroid Objects Based on Fusion of Vision and Force Perception.

Compared with traditional rigid objects' dynamic throwing and catching by the robot, the in-flight trajectory of nonrigid objects (incredibly variable centroid objects) throwing is more challenging to predict and track. This article proposes a variable centroid trajectory tracking network (VCTTN) with the fusion of vision and force information by introducing force data of throw processing to the vision neural network. The VCTTN-based model-free robot control system is developed to perform highly precise prediction and tracking with a part of the in-flight vision.

Hybrid Visual-Ranging Servoing for Positioning Based on Image and Measurement Features.

In this article, a hybrid visual-ranging servoing method is proposed to realize high-precision positioning tasks with a 6-degree of freedom (DOF) manipulator. This method utilizes the image and measurement features directly in the control loop. Without the need of complex image feature design and attitude estimation, this method realizes the 6-DOF control of a robot.

Data Augmentation in Defect Detection of Sanitary Ceramics in Small and Non-i.i.d Datasets.

In this study, a data-augmentation method is proposed to narrow the significant difference between the distribution of training and test sets when small sample sizes are concerned. Two major obstacles exist in the process of defect detection on sanitary ceramics. The first results from the high cost of sample collection, namely, the difficulty in obtaining a large number of training images required by deep-learning algorithms, which limits the application of existing algorithms in sanitary-ceramic defect detection.

Diagnosis of Polypoidal Choroidal Vasculopathy From Fluorescein Angiography Using Deep Learning.

Purpose: To differentiate polypoidal choroidal vasculopathy (PCV) from choroidal neovascularization (CNV) and to determine the extent of PCV from fluorescein angiography (FA) using attention-based deep learning networks.

Methods: We build two deep learning networks for diagnosis of PCV using FA, one for detection and one for segmentation. Attention-gated convolutional neural network (AG-CNN) differentiates PCV from other types of wet age-related macular degeneration.

Zebrafish Larva Orientation and Smooth Aspiration Control for Microinjection.

Objective: The zebrafish has been proven to be a significant model organism in various research fields. For investigating the in vivo properties of biologics within zebrafish with developed organs, an automated zebrafish larva organ injection system is crucially needed. However, current zebrafish larva manipulation techniques cannot accomplish this operation efficiently and continuously.

Hyaluronic acid on the urokinase sustained release with a hydrogel system composed of poloxamer 407: HA/P407 hydrogel system for drug delivery.

Pleural empyema is an inflammatory condition characterized by accumulation of pus inside the pleural cavity, which is usually followed by bacterial pneumonia. During the disease process, the pro-inflammatory and pro-fibrotic cytokines in the purulent pleural effusion cause proliferation of fibroblasts and deposition of extracellular matrix, which lead to fibrin deposition and fibrothorax. Urokinase instillation therapy through a chest drainage tube is frequently used for fibrinolysis in patients with empyema.

Visual Servoed Three-Dimensional Rotation Control in Zebrafish Larva Heart Microinjection System.

Objective: Zebrafish larva heart microinjection is a widely used technique in cardiac disease study. Compared with intensively researched rotation control of spherical or nearly spherical targets with clear structures, such as cells and embryos, 3-D rotation control of zebrafish larva demands new techniques due to its nontransparent structures and irregular outlines.

Methods: In this paper, we present a vision-servo system to automate the rotation process of zebrafish larva body.

Accurate Joint-Alignment of Indocyanine Green and Fluorescein Angiograph Sequences for Treatment of Subretinal Lesions.

In ophthalmology, aligning images in indocyanine green and fluorescein angiograph sequences is important for the treatment of subretinal lesions. This paper introduces an algorithm that is tailored to align jointly in a common reference space all the images in an angiogram sequence containing both modalities. To overcome the issues of low image contrast and low signal-to-noise ratio for late-phase images, the structural similarity between two images is enhanced using Gabor wavelet transform.

Temporally Coherent Illumination Normalization for Indocyanine Green Video Angiography.

Indocyanine green (ICG) angiography is an imaging method for doctors to observe choroidal abnormalities in human eyes. The ICG angiograms typically exhibit inhomogeneous illumination, which poses serious difficulties for the development of computer-aided diagnostic tools. In this paper, we propose a novel illumination normalization method to alleviate the inhomogeneous illumination in ICG video angiograms.

Foot-controlled robotic-enabled endoscope holder for endoscopic sinus surgery: A cadaveric feasibility study.

Objectives/hypothesis: To evaluate the feasibility of a unique prototype foot-controlled robotic-enabled endoscope holder (FREE) in functional endoscopic sinus surgery.

Study Design: Cadaveric study.

Methods: Using human cadavers, we investigated the feasibility, advantages, and disadvantages of the robotic endoscope holder in performing endoscopic sinus surgery with two hands in five cadaver heads, mimicking a single nostril three-handed technique.

Automatic Segmentation of Polypoidal Choroidal Vasculopathy from Indocyanine Green Angiography Using Spatial and Temporal Patterns.

Purpose: To develop a computer-aided diagnostic tool for automated detection and quantification of polypoidal regions in indocyanine green angiography (ICGA) images.

Methods: The ICGA sequences of 59 polypoidal choroidal vasculopathy (PCV) treatment-naïve patients from five Asian countries (Hong Kong, Singapore, South Korea, Taiwan, and Thailand) were provided by the EVEREST study. The ground truth was provided by the reading center for the presence of polypoidal regions.

Complete healing of tracheoesophageal fistula in a ventilator-dependent patient by conservative treatment.

Acquired nonmalignant tracheoesophageal fistula (TEF) is a rare clinical condition with multiple etiologies, although post-intubation injury is the most common cause. TEFs can be fatal if left untreated due to devastating pulmonary complications caused by tracheobronchial contamination and poor nutrition. Herein, we present a case of complete healing of a post-intubation TEF under conservative treatment in a ventilator-dependent patient, and review previous studies regarding the treatment of acquired nonmalignant TEFs.

Real-time automatic fiducial marker tracking in low contrast cine-MV images.

Purpose: To develop a real-time automatic method for tracking implanted radiographic markers in low-contrast cine-MV patient images used in image-guided radiation therapy (IGRT).

Methods: Intrafraction motion tracking using radiotherapy beam-line MV images have gained some attention recently in IGRT because no additional imaging dose is introduced. However, MV images have much lower contrast than kV images, therefore a robust and automatic algorithm for marker detection in MV images is a prerequisite.

Retinal vascular tree reconstruction with anatomical realism.

Motivated by the goals of automatically extracting vessel segments and constructing retinal vascular trees with anatomical realism, this paper presents and analyses an algorithm that combines vessel segmentation and grouping of the extracted vessel segments. The proposed method aims to restore the topology of the vascular trees with anatomical realism for clinical studies and diagnosis of retinal vascular diseases, which manifest abnormalities in either venous and/or arterial vascular systems. Vessel segments are grouped using extended Kalman filter which takes into account continuities in curvature, width, and intensity changes at the bifurcation or crossover point.

Role of preoperative PET-CT in assessing mediastinal and hilar lymph node status in early stage lung cancer.

Background: Positron emission tomography combined with computed tomography (PET-CT) is important in the assessment and workup of lung cancer staging. However, inconsistencies between clinical image results obtained and pathologic findings of surgical specimens are still very common, particularly in patients with clinical early stage lung cancer. We sought to clarify the role of PET-CT in predicting mediastinal lymph node status preoperatively in clinical early stage lung cancer patients.

Automatic characterization of classic choroidal neovascularization by using AdaBoost for supervised learning.

Purpose: To provide a computer-aided visualization tool for accurate diagnosis and quantification of choroidal neovascularization (CNV) on the basis of fluorescence leakage characteristics.

Methods: All image frames of a fluorescein angiography (FA) sequence are first aligned and mapped to a global space. To automatically determine the severity of each pixel in the global space and hence the extent of CNV, the system matches the intensity variation of each set of spatially corresponding pixels across the sequence with the targeted leakage pattern, learned from a sampled population graded by a retina specialist.

Tumor-to-tumor metastasis: maxillary sinus adenoid cystic carcinoma metastasizing to double primary lung adenocarcinoma.

Tumor-to-tumor metastasis is a rare occurrence. The most frequent metastatic donor is lung cancer, and the most frequent recipient is renal cell carcinoma. Here we present a patient in whom lung cancer served as a metastatic recipient and maxillary sinus adenoid cystic carcinoma acted as a metastatic donor.

Optimal linear combination of facial regions for improving identification performance.

This paper presents a novel 3-D multiregion face recognition algorithm that consists of new geometric summation invariant features and an optimal linear feature fusion method. A summation invariant, which captures local characteristics of a facial surface, is extracted from multiple subregions of a 3-D range image as the discriminative features. Similarity scores between two range images are calculated from the selected subregions.

Phosphatidylcholine catabolism in the MCF-7 cell cycle.

The catabolism of phosphatidylcholine (PtdCho) appears to play a key role in regulating the net accumulation of the lipid in the cell cycle. Current protocols for measuring the degradation of PtdCho at specific cell-cycle phases require prolonged periods of incubation with radiolabelled choline. To measure the degradation of PtdCho at the S and G2 phases in the MCF-7 cell cycle, protocols were developed with radiolabelled lysophosphatidylcholine (lysoPtdCho), which reduces the labelling period and minimizes the recycling of labelled components.